YARP
Yet Another Robot Platform
yarp::dev::ITorqueControl Class Referenceabstract

Interface for control boards implementing torque control. More...

#include <yarp/dev/ITorqueControl.h>

+ Inheritance diagram for yarp::dev::ITorqueControl:

Public Member Functions

virtual ~ITorqueControl ()
 Destructor. More...
 
virtual bool getAxes (int *ax)=0
 Get the number of controlled axes. More...
 
virtual bool getRefTorques (double *t)=0
 Get the reference value of the torque for all joints. More...
 
virtual bool getRefTorque (int j, double *t)=0
 Get the reference value of the torque for a given joint. More...
 
virtual bool setRefTorques (const double *t)=0
 Set the reference value of the torque for all joints. More...
 
virtual bool setRefTorque (int j, double t)=0
 Set the reference value of the torque for a given joint. More...
 
virtual bool setRefTorques (const int n_joint, const int *joints, const double *t)
 Set new torque reference for a subset of joints. More...
 
virtual bool getMotorTorqueParams (int j, yarp::dev::MotorTorqueParameters *params)
 Get a subset of motor parameters (bemf, ktau etc) useful for torque control. More...
 
virtual bool setMotorTorqueParams (int j, const yarp::dev::MotorTorqueParameters params)
 Set a subset of motor parameters (bemf, ktau etc) useful for torque control. More...
 
virtual bool getTorque (int j, double *t)=0
 Get the value of the torque on a given joint (this is the feedback if you have a torque sensor). More...
 
virtual bool getTorques (double *t)=0
 Get the value of the torque for all joints (this is the feedback if you have torque sensors). More...
 
virtual bool getTorqueRange (int j, double *min, double *max)=0
 Get the full scale of the torque sensor of a given joint. More...
 
virtual bool getTorqueRanges (double *min, double *max)=0
 Get the full scale of the torque sensors of all joints. More...
 

Detailed Description

Interface for control boards implementing torque control.

Definition at line 33 of file ITorqueControl.h.

Constructor & Destructor Documentation

◆ ~ITorqueControl()

virtual yarp::dev::ITorqueControl::~ITorqueControl ( )
inlinevirtual

Destructor.

Definition at line 39 of file ITorqueControl.h.

Member Function Documentation

◆ getAxes()

virtual bool yarp::dev::ITorqueControl::getAxes ( int *  ax)
pure virtual

Get the number of controlled axes.

This command asks the number of controlled axes for the current physical interface.

Returns
the number of controlled axes.

Implemented in yarp::dev::ImplementTorqueControl, RemoteControlBoard, FakeMotionControl, DynamixelAX12FtdiDriver, ControlBoardWrapperTorqueControl, and ControlBoardRemapper.

◆ getMotorTorqueParams()

virtual bool yarp::dev::ITorqueControl::getMotorTorqueParams ( int  j,
yarp::dev::MotorTorqueParameters params 
)
inlinevirtual

Get a subset of motor parameters (bemf, ktau etc) useful for torque control.

Parameters
jjoint number
paramsa struct containing the motor parameters to be retrieved
Returns
true/false on success/failure

Reimplemented in yarp::dev::ImplementTorqueControl, ControlBoardWrapperTorqueControl, ControlBoardRemapper, and RemoteControlBoard.

Definition at line 88 of file ITorqueControl.h.

◆ getRefTorque()

virtual bool yarp::dev::ITorqueControl::getRefTorque ( int  j,
double *  t 
)
pure virtual

Get the reference value of the torque for a given joint.

This is NOT the feedback (see getTorque instead).

Parameters
jjoint number
tthe returned reference torque of joint j
Returns
true/false on success/failure

Implemented in RemoteControlBoard, DynamixelAX12FtdiDriver, ControlBoardWrapperTorqueControl, ControlBoardRemapper, and yarp::dev::ImplementTorqueControl.

◆ getRefTorques()

virtual bool yarp::dev::ITorqueControl::getRefTorques ( double *  t)
pure virtual

Get the reference value of the torque for all joints.

This is NOT the feedback (see getTorques instead).

Parameters
tpointer to the array of torque values
Returns
true/false on success/failure

Implemented in yarp::dev::ImplementTorqueControl, RemoteControlBoard, DynamixelAX12FtdiDriver, ControlBoardWrapperTorqueControl, and ControlBoardRemapper.

◆ getTorque()

virtual bool yarp::dev::ITorqueControl::getTorque ( int  j,
double *  t 
)
pure virtual

Get the value of the torque on a given joint (this is the feedback if you have a torque sensor).

Parameters
jjoint number
tpointer to the result value
Returns
true/false on success/failure

Implemented in yarp::dev::ImplementTorqueControl, RemoteControlBoard, DynamixelAX12FtdiDriver, ControlBoardWrapperTorqueControl, and ControlBoardRemapper.

◆ getTorqueRange()

virtual bool yarp::dev::ITorqueControl::getTorqueRange ( int  j,
double *  min,
double *  max 
)
pure virtual

Get the full scale of the torque sensor of a given joint.

Parameters
jjoint number
minminimum torque of the joint j
maxmaximum torque of the joint j
Returns
true/false on success/failure

Implemented in yarp::dev::ImplementTorqueControl, RemoteControlBoard, DynamixelAX12FtdiDriver, ControlBoardWrapperTorqueControl, and ControlBoardRemapper.

◆ getTorqueRanges()

virtual bool yarp::dev::ITorqueControl::getTorqueRanges ( double *  min,
double *  max 
)
pure virtual

Get the full scale of the torque sensors of all joints.

Parameters
minpointer to the array that will store minimum torques of the joints
maxpointer to the array that will store maximum torques of the joints
Returns
true/false on success/failure

Implemented in yarp::dev::ImplementTorqueControl, RemoteControlBoard, DynamixelAX12FtdiDriver, ControlBoardWrapperTorqueControl, and ControlBoardRemapper.

◆ getTorques()

virtual bool yarp::dev::ITorqueControl::getTorques ( double *  t)
pure virtual

Get the value of the torque for all joints (this is the feedback if you have torque sensors).

Parameters
tpointer to the array that will store the output
Returns
true/false on success/failure

Implemented in yarp::dev::ImplementTorqueControl, RemoteControlBoard, DynamixelAX12FtdiDriver, ControlBoardWrapperTorqueControl, and ControlBoardRemapper.

◆ setMotorTorqueParams()

virtual bool yarp::dev::ITorqueControl::setMotorTorqueParams ( int  j,
const yarp::dev::MotorTorqueParameters  params 
)
inlinevirtual

Set a subset of motor parameters (bemf, ktau etc) useful for torque control.

Parameters
jjoint number
paramsa struct containing the motor parameters to be set
Returns
true/false on success/failure

Reimplemented in yarp::dev::ImplementTorqueControl, ControlBoardWrapperTorqueControl, ControlBoardRemapper, and RemoteControlBoard.

Definition at line 95 of file ITorqueControl.h.

◆ setRefTorque()

virtual bool yarp::dev::ITorqueControl::setRefTorque ( int  j,
double  t 
)
pure virtual

Set the reference value of the torque for a given joint.

Parameters
jjoint number
tnew value
Returns
true/false on success/failure

Implemented in RemoteControlBoard, yarp::dev::ImplementTorqueControl, DynamixelAX12FtdiDriver, ControlBoardWrapperTorqueControl, and ControlBoardRemapper.

◆ setRefTorques() [1/2]

virtual bool yarp::dev::ITorqueControl::setRefTorques ( const double *  t)
pure virtual

Set the reference value of the torque for all joints.

Parameters
tpointer to the array of torque values
Returns
true/false on success/failure

Implemented in yarp::dev::ImplementTorqueControl, RemoteControlBoard, DynamixelAX12FtdiDriver, ControlBoardWrapperTorqueControl, and ControlBoardRemapper.

◆ setRefTorques() [2/2]

virtual bool yarp::dev::ITorqueControl::setRefTorques ( const int  n_joint,
const int *  joints,
const double *  t 
)
inlinevirtual

Set new torque reference for a subset of joints.

Parameters
jointspointer to the array of joint numbers
refspointer to the array specifying the new torque reference
Returns
true/false on success/failure

Reimplemented in yarp::dev::ImplementTorqueControl, RemoteControlBoard, ControlBoardWrapperTorqueControl, and ControlBoardRemapper.

Definition at line 81 of file ITorqueControl.h.


The documentation for this class was generated from the following file: